This study explores the suppression of heat-affected zone (HAZ) softening in friction stir welding (FSW) joints formed above the A3 temperature of martensitic steels by leveraging short-time secondary hardening induced by vanadium (V) addition. The HAZ microstructure was examined using scanning electron microscopy (SEM), transmission electron microscopy (TEM), and atom probe tomography (APT). Mechanical properties were evaluated through Vickers hardness (HV) measurements and tensile tests. Analysis of hardness distribution indicates effective HAZ softening suppression with V addition, attributed to the precipitation of fine and high-density V carbides within the HAZ. The inhibition of HAZ softening was correlated not only with V content but also with the A1 temperature of the steels, regulated by the manganese (Mn) content. However, at 1 mass% V content, intergranular brittle fracture occurred within the HAZ due to continuously distributed fine carbides and Mn segregation along the prior austenite boundary.